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Fadal 4020 Conversion Parts

  1. x3 ASD-B3-2023-E 2kW, 3.1 kHz Bandwith, 24-bit encoder, EtherCAT
  2. x3 ECM-B3M-EA1320RS1 2kW, Rated Torque: 9.55 (N-m), Maximum 28.65 (N-m)
  3. x1 VFD49AMH23ANSHA VFD-MH300, 15HP, 11kw, (HD 49A), 3 Ø 230VAC, 2000Hz
  4. x1 CMM-EC01 EtherCAT Communication Card -- Should likely be the CMM-EC02 for new installs
  5. x1 EMM-PG01L Encoder Module

Useful Links

Basic Install Steps

  1. Install linuxCNC which as of now is https://www.linuxcnc.org/iso/LinuxCNC_2.9.2-amd64.hybrid.iso from https://linuxcnc.org/downloads/

    If like me upon trying to update / upgrade you get errors about raspi-firmware then run these lines... as explained here

    rm /etc/{initramfs/post-update.d/,kernel/{postinst.d/,postrm.d/}}z50-raspi-firmware
    apt purge raspi-firmware
    
  2. Install EtherCAT https://forum.linuxcnc.org/ethercat/45336-ethercat-installation-from-repositories-how-to-step-by-step

    -- you dont need to run the hidden (spoiler) commands on that page

    -- you may have to create the dev directory in your home folder - I did not have one

    -- after sudo halcompile --install cia402.comp you should be able to move onto the next step of testing with the Delta B3 config from gchesney

  3. Example Delta B3 config https://github.com/gchesney/linuxcnc-asda-b3-e-configs

    • Adjust "setp cia402.0.pos-scale 16777216" in ethercat-test.hal to have some visible movement - this makes 1 revolution = 1 inch in the example
    • Delta ASDA-Soft to disable the limits + emergency stop inputs if you desire
      • P2.011 through 13 to disabled - otherwise you will always have the AL013 alarm - you should have Estop in a real machine
      • If running from a single phase supply during testing you will also have to disable some of the low voltage alarms.. image

EtherCAT Notes

Linux Setup Notes

  • XRDP works okay as remote desktop server
    • the user needs to be logged out locally to be able to login via RDP

Delta B3 Servo Notes

  • Delta files download
    • Delta ASDA-Soft allows you to configure 1000s of settings and view very useful debugging information on the drives
    • I havent found out how to actually get the firmware update files - maybe they must be requested from Delta..

Delta VFD Notes

  • Delta files download
    • Delta ASDA-Soft allows you to configure 1000s of settings and view very useful debugging information on the drives
    • I havent found out how to actually get the firmware update files - maybe they must be requested from Delta..
    • Settings:
      • 09-01 MODBUS baud rate to 115.2 to speed up settings changes

LinuxCNC Notes

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